IMU: changed members from Eigen to cv to avoid seg faults about Eigen memory alignment when copying IMU object created dynamically (#270)

docker/artful/Dockerfile

@@ -0,0 +1,42 @@
+# Image: introlab3it/rtabmap:artful
+
+FROM ubuntu:17.10
+
+# Install build dependencies
+RUN apt-get update && apt-get install -y \
+      libsqlite3-dev \
+      libpcl-dev \
+      git \
+      cmake \
+      libproj-dev \
+      libqt5svg5-dev \
+      libfreenect-dev \
+      libopenni2-dev \
+      software-properties-common
+
+WORKDIR /root/
+
+# using OpenCV from source because ffmpeg (libav..) error with opencv binaries
+RUN git clone https://github.com/opencv/opencv_contrib.git
+RUN git clone https://github.com/opencv/opencv.git
+RUN cd rtabmap/build && \
+    cmake -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf opencv opencv_contrib
+
+# Clone source code
+RUN git clone https://github.com/introlab/rtabmap.git
+
+# Build RTAB-Map project
+RUN cd rtabmap/build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+
+WORKDIR /root
+